CN112182748A - Automatic driving sensor simulation test system and application method thereof - Google Patents

Automatic driving sensor simulation test system and application method thereof Download PDF

Info

Publication number
CN112182748A
CN112182748A CN202010985552.8A CN202010985552A CN112182748A CN 112182748 A CN112182748 A CN 112182748A CN 202010985552 A CN202010985552 A CN 202010985552A CN 112182748 A CN112182748 A CN 112182748A
Authority
CN
China
Prior art keywords
imu
simulation
gps
automatic driving
vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN202010985552.8A
Other languages
Chinese (zh)
Inventor
张虎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Xingyue Intelligent Technology Co ltd
Original Assignee
Suzhou Xingyue Intelligent Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suzhou Xingyue Intelligent Technology Co ltd filed Critical Suzhou Xingyue Intelligent Technology Co ltd
Priority to CN202010985552.8A priority Critical patent/CN112182748A/en
Publication of CN112182748A publication Critical patent/CN112182748A/en
Withdrawn legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/15—Vehicle, aircraft or watercraft design
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Geometry (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Evolutionary Computation (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Optimization (AREA)
  • Pure & Applied Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses an automatic driving sensor simulation test system, which comprises an upper computer and a bottom board card which are in communication and interactive connection; the upper computer comprises a track generation module, the bottom board card comprises a bottom central processing module, and the bottom central processing module simulates and calculates the current running position of the vehicle in real time based on the vehicle motion track information sent by the track generation module; calculating and outputting a GPS simulation signal and an IMU simulation signal according to the current operation position; positioning operation of the vehicle is carried out according to the GPS simulation signal and the IMU simulation signal; the method is obtained by independent development completely based on an open source software platform, the application cost is low, and the foreign technology barrier is broken; the invention also discloses an application method of the automatic driving sensor simulation test system, provides simulation environment test scenes of different levels, obviously accelerates the development rhythm of a positioning algorithm and a vehicle control algorithm, and has universality and universality.

Description

Automatic driving sensor simulation test system and application method thereof
Technical Field
The invention belongs to the field of automatic driving, particularly relates to an automatic driving sensor simulation test system, and further relates to an application method adopted by the simulation test system.
Background
The automatic driving technology development is a highly complex system engineering, an external sensing module of the automatic driving technology development is composed of various sensors such as a millimeter wave radar, an ultrasonic radar, a camera, a laser radar, a global positioning system GPS (global positioning system), an inertial navigation unit (IMU) and the like, different sensors detect different characteristics around the vehicle, the different characteristics have different functions in sensing the environment around the vehicle, and a control system integrates and estimates all information to obtain the position information of the current vehicle so as to determine the motion condition of the vehicle.
The GPS is the most basic sensor because it can locate the current position of the vehicle in the map; however, the GPS firstly has the problem of insufficient positioning accuracy, the error range is 1-10m, the sampling frequency is set in a lower frequency range, the accuracy and the real-time performance cannot meet the requirements of automatic driving, and the signal quality is greatly reduced in a road shielding environment; the inertial navigation unit IMU can acquire the instantaneous motion conditions (the acceleration, the angular velocity and the geomagnetic angle of a 3-dimensional space) of the vehicle, and the sampling frequency is set in a higher frequency range to be used as a good supplement for the GPS, but the IMU needs to perform integration when calculating the vehicle speed and the steering information, the problem of accumulated errors is serious, the errors are dispersed along with time, and the problem can be periodically corrected by the GPS. Therefore, the data fusion algorithm developed in the development process makes the two sensors good at the advantages and short at the disadvantages to form a reliable position estimation algorithm, and is a basic function of the automatic driving technology.
However, due to the characteristics of the two sensors, there are inevitably more system errors, and the development of the automatic driving positioning technology needs to perform a lot of tests on different terrains and maps, so that if the positioning algorithm is directly used on a real vehicle (without introducing simulation equipment) at the initial stage of algorithm development, the test efficiency is very low, and the requirement of batch tests cannot be met. In order to solve the problem of mass test application of the automatic driving positioning technology, at present, hardware-in-loop simulation equipment is adopted to develop early-stage algorithm development, so that the requirements of mass scene tests can be met, the requirement of test batch can be met, and the method plays an important role in shortening the development period and accelerating the development rhythm.
However, most of mature hardware-in-loop devices are based on foreign commercial software as development platforms, on one hand, the cost is high, on the other hand, the technical barrier problem also exists, a development platform with independent intellectual property rights is lacking at present in China, and the development and application of the development platform are completely limited by foreign countries.
Therefore, the independent development of the automatic driving sensor simulation test system based on the open source software has extremely important significance.
Disclosure of Invention
In view of this, the present invention provides an automatic driving sensor simulation test system, which is obtained by performing autonomous development completely based on an open source software platform, has low application cost, and breaks the foreign technical barrier.
The invention also aims to provide an application method of the automatic driving sensor simulation test system, which provides simulation environment test scenes of different levels, obviously accelerates the development rhythm of a positioning algorithm and a vehicle control algorithm, and has universality and universality, and the test environment set up by a user can run through all test stages before carrying a real vehicle.
The technical scheme adopted by the invention is as follows:
an automatic driving sensor simulation test system comprises an upper computer and a bottom board card which are in communication and interactive connection; the upper computer comprises a track generation module for automatic driving, the bottom board card comprises a bottom central processing module, and the bottom central processing module simulates and calculates the current running position of the vehicle in real time based on the vehicle motion track information sent by the track generation module; calculating and outputting a GPS simulation signal and an IMU simulation signal according to the current operation position; and performing positioning operation of the vehicle according to the GPS simulation signal and the IMU simulation signal.
The upper computer software related to the application is developed based on an open source software platform, for example, a python open source software platform can be adopted; in actual operation, only relevant parameters of the bottom-layer board card need to be selected, the bottom-layer board card can be configured before each simulation, and the requirement on real-time performance is low, so that the bottom-layer board card and the upper computer are preferably in communication interactive connection in a serial port communication mode; particularly preferably, the bottom central processing module of the bottom board card is specifically controlled by an FPGA (programmable gate array), so as to meet the requirement for highly real-time calculation of the GPS simulation signal and the IMU simulation signal, and particularly, when the simulation works, the FPGA pre-configures its clock according to the data update frequency required by the GPS and IMU, for example: when the highest update frequency of the IMU is 100Hz, 5000 pieces of calculation are required for each update, then according to this requirement, the calculation frequency of the FPGA is set to 500kHz, and based on consideration of the safety factor, the calculation frequency of the FPGA can also be configured to a higher range, and the actual setting can be performed according to specific requirements, which are routine technical choices that can be made by those skilled in the art based on the technical content of the present application.
It should be noted that the GPS simulation signal related to the present application includes longitude position and latitude position information of the vehicle, and the IMU simulation signal includes three-dimensional acceleration, angular velocity and geomagnetic angle, which are generated by the accelerometer, the gyroscope and the magnetometer, and are known in the art, and the present application does not specifically describe this.
Because mass production state GPS has larger error due to the sensor characteristic, preferably, before the positioning operation of the vehicle, the GPS simulation signal is subjected to GPS error compensation in advance and is used for approaching to a real GPS signal; the GPS errors include GPS system errors including calculation errors caused by the lengthening of the electromagnetic wave propagation path (as shown in a specific area, the fixed position of the GPS is fixed, for example, the GPS signal is greatly weakened indoors and is actually an extreme condition affected by surrounding buildings, that is, the propagation path is too long, and the GPS signal may be attenuated to 0) due to the reception of the reflected signals, and/or GPS accidental errors caused by weather (as include the change of the light speed due to the medium change of the electromagnetic wave signal propagation), which conform to the gaussian distribution.
Preferably, the calculation formula of the GPS error compensation is:
Figure BDA0002689127560000031
wherein x ist，ytRespectively obtaining compensated longitude position information and latitude position information of the vehicle; the above-mentioned
Figure BDA0002689127560000041
Respectively longitude and latitude position information, Deltaxt，ΔytThe error parameters satisfying the gaussian distribution can be set by pre-calculation, and f (x) and f (y) are the GPS system error compensation parameters in a specific area and can be set by pre-calculation.
Because the IMU in the mass production state has larger error due to the characteristics of the sensor, preferably, before the positioning operation of the vehicle, the IMU simulation signal is subjected to IMU error compensation in advance and is used for approaching a real IMU signal; wherein the IMU error compensation comprises IMU system errors and/or IMU random errors, the IMU system errors comprise starting-up constant zero drift errors and/or scale factor errors and/or direction misalignment and non-orthogonality errors, and the IMU random errors comprise random walking errors and/or zero offset instability errors.
Preferably, the scale factor error and the direction are not coincident and the non-orthogonal error is calibrated by an offline IMU sensor to carry out correction compensation; the starting-up constant zero drift error is expressed as a constant offset parameter meeting Gaussian distribution during each starting-up, the constant offset parameter can be obtained by measuring and reading a constant offset number after the IMU sensor is started up and is static for multiple times and taking the average value of the constant offset number;
the calculation formula of the IMU random error is as follows:
wm＝wt+b+nr
Figure BDA0002689127560000042
wherein, wm: for compensated IMU angular velocity, wtIMU angular velocity, n, calculated for simulationrAnd nwIs a power spectrum parameter obtained by calculation of Allen variance, and nrSatisfies the white Gaussian noise characteristics, the power spectrum parameter is constant, b satisfies the noise characteristics of the wiener process, the power spectrum density and 1/f2And f is the operating frequency of the IMU in direct proportion.
In practical application, as a typical scene for development in the early stage of automatic driving, for example, there are: GPS signals can be interfered around a garden, at a crossroad and under a building, IMU signal fluctuation is large when road conditions bump, positioning operation is carried out after the simulation signals obtained through calculation need to be compensated, and the technical level of simulation testing can be effectively improved.
Preferably, the positioning algorithm is executed through an automatic driving controller, wherein the bottom board card is respectively provided with a GPS generator and an IMU generator, the automatic driving controller is respectively provided with a GPS receiving unit in communication connection with the GPS generator and an IMU receiving unit in communication connection with the IMU generator, so that the automatic driving controller can truly receive and obtain a GPS simulation signal and an IMU simulation signal.
Preferably, in the application method of the automatic driving sensor simulation test system, the vehicle motion track information is sent out through the track generation module; calculating and outputting a GPS simulation signal and an IMU simulation signal through the bottom layer central processing module, and directly performing positioning operation on the vehicle according to the GPS simulation signal and the IMU simulation signal, wherein the test scene is suitable for being used as a test scene of a simulation environment positioning algorithm; particularly preferably, the sensor signal simulation algorithm in the bottom layer central processing module can be directly used as a library function to be called by the model, and the aim of developing the sensor signal simulation algorithm as an initial simulation environment positioning algorithm can be achieved in a flexible mode at the fastest speed.
Preferably, in the application method of the automatic driving sensor simulation test system, the vehicle motion track information is sent out through the track generation module; the automatic driving controller receives GPS simulation signals and IMU simulation signals output by the bottom layer central processing module and carries out positioning operation, the positioning operation is used for verifying the signal receiving performance and the positioning operation performance of the automatic driving controller, and the automatic driving controller and a simulation environment carry out cooperative work and are suitable for being used as a test scene for receiving sensor signals and executing a positioning algorithm; preferably, the automatic driving controller related to the present application adopts a floating point operation mode with strong calculation capability, and when the positioning operation performance is verified, verification tests are performed on the aspects of positioning precision, calculation effect and the like which can occur when the floating point operation is converted into the fixed point operation.
Preferably, in the application method of the automatic driving sensor simulation test system, the vehicle motion track information is sent out through the track generation module; the automatic driving controller receives GPS simulation signals and IMU simulation signals output by the bottom central processing module and carries out positioning operation; meanwhile, the automatic driving controller carries out transverse and longitudinal control on the vehicle by the vehicle control algorithm, and the track updating module calculates and updates the vehicle motion track according to the current motion parameters of the vehicle, so that the vehicle control algorithm is suitable for being used as a test scene of the vehicle control algorithm in the automatic driving controller; particularly preferably, the motion parameters of the vehicle include a vehicle plane motion speed (u, v) and a vehicle body heading angle (phi), or a torque (torque) and a steering angle (theta) of a vehicle driving motor, and the motion trajectory is calculated according to the motion parameters.
The method is completely obtained by independent development based on an open source software platform, is low in application cost, breaks through foreign technical barriers, specifically obtains GPS (global positioning system) simulation signals and IMU (inertial measurement unit) simulation signals through simulation calculation by a bottom central processing module of a bottom board card, introduces a signal error compensation mechanism in the simulation calculation based on the characteristics of an actual sensor, improves the simulation precision of the sensor to the greatest extent by combining a physical model with a large amount of experimental data, approaches the actual physical characteristics of the sensor as far as possible, improves the precision of the sensor signal simulation calculation, and improves the technical level of sensor simulation;
the invention further creatively provides simulation environment test scenes aiming at different levels on the basis of providing the automatic driving sensor simulation test system, and has universality and universality on the basis of obviously accelerating the rhythm of developing the automatic driving sensor simulation test system and through all test stages before carrying a real vehicle.
Drawings
FIG. 1 is a block diagram of an automatic driving sensor simulation test system in embodiment 1 of the present application;
FIG. 2 is a schematic diagram of a test scenario applied in embodiment 2 of the present application;
FIG. 3 is a schematic diagram of a test scenario applied in embodiment 3 of the present application;
fig. 4 is a schematic diagram of a test scenario applied in embodiment 4 of the present application.
Detailed Description
The embodiment of the invention discloses an automatic driving sensor simulation test system, which comprises an upper computer and a bottom board card which are in communication and interactive connection; the upper computer comprises a track generation module for automatic driving, the bottom board card comprises a bottom central processing module, and the bottom central processing module simulates and calculates the current running position of the vehicle in real time based on the vehicle motion track information sent by the track generation module; calculating and outputting a GPS simulation signal and an IMU simulation signal according to the current operation position; and performing positioning operation of the vehicle according to the GPS simulation signal and the IMU simulation signal.
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1: referring to fig. 1, an autopilot sensor simulation test system includes an upper computer and a bottom board card which are in communication and interactive connection; the upper computer software is developed based on a python open source software platform (other suitable open source software platforms can also be adopted as a software foundation, and the software foundation is not particularly limited by the embodiment), the upper computer comprises a track generation module for automatic driving, the bottom board card comprises a bottom layer central processing module, and the bottom layer central processing module simulates and calculates the current running position of the vehicle in real time based on the vehicle motion track information sent by the track generation module; calculating and outputting a GPS simulation signal and an IMU simulation signal according to the current operation position; positioning operation of the vehicle is carried out according to the GPS simulation signal and the IMU simulation signal; preferably, in this embodiment, the automatic driving controller executes a positioning algorithm, wherein the bottom board card is respectively provided with a GPS generator and an IMU generator, and the automatic driving controller is respectively provided with a GPS receiving unit in communication connection with the GPS generator and an IMU receiving unit in communication connection with the IMU generator;
preferably, in the present embodiment, before the positioning calculation of the vehicle is performed, the GPS simulation signal is subjected to GPS error compensation in advance for approaching the true GPS signal; the GPS error comprises a GPS system error and/or a GPS accidental error, the GPS system error comprises a calculation deviation caused by lengthening of an electromagnetic wave propagation path due to the fact that a reflected signal is received, the GPS accidental error comprises a deviation caused by weather influence, and the deviation accords with Gaussian distribution; the calculation formula of the GPS error compensation is as follows:
Figure BDA0002689127560000071
wherein x ist，ytRespectively obtaining compensated longitude position information and latitude position information of the vehicle;
Figure BDA0002689127560000081
respectively longitude and latitude position information, Deltaxt，ΔytThe error parameters satisfying the gaussian distribution can be set by pre-calculation, and f (x) and f (y) are the GPS system error compensation parameters in a specific area and can be set by pre-calculation.
Preferably, in the present embodiment, before the positioning operation of the vehicle is performed, the IMU simulation signal is subjected to IMU error compensation in advance, and is used for approaching a real IMU signal; the IMU error compensation comprises an IMU system error and/or an IMU random error, the IMU system error comprises a starting constant zero drift error and/or a scale factor error and/or a direction misalignment and non-orthogonality error, and the IMU random error comprises a random walking error and/or a zero offset unstable error; wherein the content of the first and second substances,
the scale factor error and the direction are not coincident and the non-orthogonal error is calibrated by the offline IMU sensor to carry out correction and compensation; the starting constant zero drift error is expressed as a constant offset parameter meeting Gaussian distribution during each starting, and the constant offset parameter can be obtained by measuring and reading a constant offset number after the IMU sensor is started and stopped for multiple times and taking the average value of the constant offset number;
the calculation formula of the IMU random error is as follows:
wm＝wt+b+nr
Figure BDA0002689127560000082
wherein, wm: for compensated IMU angular velocity, wtIMU angular velocity, n, calculated for simulationrAnd nwIs a power spectrum parameter obtained by calculation of Allen variance, and nrSatisfies the white Gaussian noise characteristics, the power spectrum parameter is constant, b satisfies the noise characteristics of the wiener process, the power spectrum density and 1/f2And f is the operating frequency of the IMU in direct proportion.
Example 2: referring to fig. 2, in an application method of the automatic driving sensor simulation test system according to embodiment 1, at an initial stage of a positioning algorithm development, a trajectory generation module sends vehicle motion trajectory information, and specifically, the trajectory generation module may generate an open-loop controlled vehicle motion trajectory based on a real world map or a virtual world map; in this embodiment 2, the GPS signal simulation algorithm and the IMU signal simulation algorithm in the bottom central processing module are directly called as a library function positioning algorithm model to perform positioning operation, so as to achieve the purpose of quickly completing the development of the simulation environment positioning algorithm in a flexible manner.
Example 3: referring to fig. 3, in an application method of the automatic driving sensor simulation test system according to embodiment 1, vehicle motion trajectory information is sent by a trajectory generation module, and specifically, the trajectory generation module may generate an open-loop controlled vehicle motion trajectory based on a real world map or a virtual world map; the automatic driving controller receives GPS simulation signals and IMU simulation signals (a GPS generator and a GPS receiving unit which are connected in a communication mode, and an IMU generator and an IMU receiving unit which are connected in a communication mode) output by a bottom layer central processing module, carries out positioning operation, is used for verifying the signal receiving performance and the positioning operation performance of the automatic driving controller, carries out cooperative work between the automatic driving controller and a simulation environment, and is suitable for being used as a test scene for receiving sensor signals and executing a positioning algorithm.
Example 4: referring to fig. 4, in an application method of the automatic driving sensor simulation test system according to embodiment 1, vehicle motion trajectory information is sent by a trajectory generation module, and specifically, the trajectory generation module may generate a vehicle motion trajectory based on a real world map or a virtual world map; the automatic driving controller receives GPS simulation signals and IMU simulation signals output by the bottom central processing module and carries out positioning operation; meanwhile, the automatic driving controller controls the vehicle transversely and longitudinally, and the track updating module calculates and updates the vehicle motion track according to the current motion parameters of the vehicle and is suitable for being used as a test scene of a vehicle control algorithm in the automatic driving controller; specifically, in this embodiment 4, the trajectory updating module calculates the vehicle motion trajectory according to the motion parameter signal output by the autopilot controller and outputs the vehicle motion trajectory information to the bottom layer central processing module, specifically, when implemented, the trajectory updating module may calculate the vehicle motion trajectory based on the vehicle plane motion speed (u, v) and the vehicle body heading angle (phi) output by the autopilot controller, or may calculate the vehicle motion trajectory based on the torque (torque) and the steering angle (theta) of the vehicle driving motor output by the autopilot controller, and the bottom layer central processing module generates the sensor signal by analog calculation according to the motion trajectory.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (9)

1. An automatic driving sensor simulation test system is characterized by comprising an upper computer and a bottom board card which are in communication and interactive connection; the upper computer comprises a track generation module for automatic driving, the bottom board card comprises a bottom central processing module, and the bottom central processing module simulates and calculates the current running position of the vehicle in real time based on the vehicle motion track information sent by the track generation module; calculating and outputting a GPS simulation signal and an IMU simulation signal according to the current operation position; and performing positioning operation of the vehicle according to the GPS simulation signal and the IMU simulation signal.
2. The autopilot sensor simulation test system of claim 1 wherein the GPS simulation signal is pre-GPS error compensated for approaching a true GPS signal prior to vehicle positioning calculations; the GPS error comprises a GPS system error and/or a GPS accidental error, the GPS system error comprises a calculated deviation caused by the fact that the propagation path of the electromagnetic wave is lengthened due to the fact that the reflected signal is received, and the GPS accidental error comprises a deviation caused by weather influence, and the deviation conforms to a Gaussian distribution.
3. The autopilot sensor simulation testing system of claim 2 wherein the calculation formula for the GPS error compensation is:
Figure FDA0002689127550000011
wherein x ist，ytRespectively obtaining compensated longitude position information and latitude position information of the vehicle; the above-mentioned
Figure FDA0002689127550000012
Respectively longitude and latitude position information, Deltaxt，ΔytThe error parameters satisfying the gaussian distribution can be set by pre-calculation, and f (x) and f (y) are the GPS system error compensation parameters in a specific area and can be set by pre-calculation.
4. The autopilot sensor simulation testing system of claim 1 wherein the IMU simulation signals are pre-IMU error compensated for approximating real IMU signals prior to vehicle positioning calculations; wherein the IMU error compensation comprises IMU system errors and/or IMU random errors, the IMU system errors comprise starting-up constant zero drift errors and/or scale factor errors and/or direction misalignment and non-orthogonality errors, and the IMU random errors comprise random walking errors and/or zero offset instability errors.
5. The autopilot sensor simulation testing system of claim 4 wherein the scale factor error is corrected and compensated for non-coincident and non-orthogonal errors in direction by off-line IMU sensor calibration; the starting-up constant zero drift error is expressed as a constant offset parameter meeting Gaussian distribution during each starting-up, the constant offset parameter can be obtained by measuring and reading a constant offset number after the IMU sensor is started up and is static for multiple times and taking the average value of the constant offset number;
the calculation formula of the IMU random error is as follows:
wm＝wt+b+nr
Figure FDA0002689127550000021
wherein, wmFor compensated IMU angular velocity, wtIMU angular velocity, n, calculated for simulationrAnd nwIs a power spectrum parameter obtained by calculation of Allen variance, and nrSatisfies the white Gaussian noise characteristics, the power spectrum parameter is constant, b satisfies the noise characteristics of the wiener process, the power spectrum density and 1/f2And f is the operating frequency of the IMU in direct proportion.
6. The autopilot sensor simulation testing system of claim 1 wherein the positioning algorithm is executed by an autopilot controller, wherein the bottom board card is provided with a GPS generator and an IMU generator, respectively, and wherein the autopilot controller is provided with a GPS receiving unit in communication with the GPS generator and an IMU receiving unit in communication with the IMU generator, respectively.
7. An application method of the automatic driving sensor simulation test system according to one of the claims 1 to 6, characterized in that the vehicle motion track information is sent by the track generation module; the bottom layer central processing module calculates and outputs GPS simulation signals and IMU simulation signals, and positioning operation of the vehicle is directly carried out according to the GPS simulation signals and the IMU simulation signals, so that the system is suitable for being used as a test scene of a simulation environment positioning algorithm.
8. An application method of the automatic driving sensor simulation test system according to one of the claims 1 to 6, characterized in that the vehicle motion track information is sent by the track generation module; the automatic driving controller receives GPS simulation signals and IMU simulation signals output by the bottom layer central processing module, carries out positioning operation and is used for verifying the signal receiving performance and the positioning operation performance of the automatic driving controller, the automatic driving controller and the simulation environment work in a cooperative mode and the automatic driving controller is suitable for being used as a test scene for receiving sensor signals and executing a positioning algorithm.
9. An application method of the automatic driving sensor simulation test system according to one of the claims 1 to 6, characterized in that the vehicle motion track information is sent by the track generation module; the automatic driving controller receives GPS simulation signals and IMU simulation signals output by the bottom central processing module and carries out positioning operation; meanwhile, the automatic driving controller carries out transverse and longitudinal control on the vehicle through the vehicle control algorithm, and the track updating module calculates and updates the vehicle motion track according to the current motion parameters of the vehicle, so that the automatic driving controller is suitable for being used as a test scene of the vehicle control algorithm in the automatic driving controller.
CN202010985552.8A 2020-09-18 2020-09-18 Automatic driving sensor simulation test system and application method thereof Withdrawn CN112182748A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010985552.8A CN112182748A (en) 2020-09-18 2020-09-18 Automatic driving sensor simulation test system and application method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010985552.8A CN112182748A (en) 2020-09-18 2020-09-18 Automatic driving sensor simulation test system and application method thereof

Publications (1)

Publication Number Publication Date
CN112182748A true CN112182748A (en) 2021-01-05

Family

ID=73921685

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010985552.8A Withdrawn CN112182748A (en) 2020-09-18 2020-09-18 Automatic driving sensor simulation test system and application method thereof

Country Status (1)

Country Link
CN (1) CN112182748A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112966335A (en) * 2021-03-05 2021-06-15 北京百度网讯科技有限公司 Interface simulation device and automatic driving simulation test platform
CN112987593A (en) * 2021-02-19 2021-06-18 中国第一汽车股份有限公司 Visual positioning hardware-in-the-loop simulation platform and simulation method
CN113625685A (en) * 2021-03-31 2021-11-09 中汽创智科技有限公司 Automatic driving test system and method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112987593A (en) * 2021-02-19 2021-06-18 中国第一汽车股份有限公司 Visual positioning hardware-in-the-loop simulation platform and simulation method
CN112987593B (en) * 2021-02-19 2022-10-28 中国第一汽车股份有限公司 Visual positioning hardware-in-the-loop simulation platform and simulation method
CN112966335A (en) * 2021-03-05 2021-06-15 北京百度网讯科技有限公司 Interface simulation device and automatic driving simulation test platform
CN112966335B (en) * 2021-03-05 2023-11-24 北京百度网讯科技有限公司 Interface simulation device and automatic driving simulation test platform
CN113625685A (en) * 2021-03-31 2021-11-09 中汽创智科技有限公司 Automatic driving test system and method

Similar Documents

Publication Publication Date Title
CN112182748A (en) Automatic driving sensor simulation test system and application method thereof
US11754400B2 (en) Motion constraint-aided underwater integrated navigation method employing improved Sage-Husa adaptive filtering
CN103308073B (en) Strap down inertial navigation/combinations of satellites navigation detection system and emulation test method thereof
Milanés et al. Autonomous vehicle based in cooperative GPS and inertial systems
Yang et al. Magnetometer and differential carrier phase GPS-aided INS for advanced vehicle control
CN101082493B (en) Combined positioning method of agricultural machines navigation
CN110487301A (en) A kind of airborne strapdown inertial navigation system Initial Alignment Method of radar auxiliary
CN106052686B (en) Complete autonomous strapdown inertial navigation system based on DSPTMS320F28335
Xiong et al. G-VIDO: A vehicle dynamics and intermittent GNSS-aided visual-inertial state estimator for autonomous driving
CN109029454A (en) A kind of abscissa system Strapdown Inertial Navigation System damping algorithm based on Kalman filtering
CN104019828A (en) On-line calibration method for lever arm effect error of inertial navigation system in high dynamic environment
CN101858748A (en) Fault-tolerance autonomous navigation method of multi-sensor of high-altitude long-endurance unmanned plane
CN111157984B (en) Pedestrian autonomous navigation method based on millimeter wave radar and inertial measurement unit
CN101846734A (en) Agricultural machinery navigation and position method and system and agricultural machinery industrial personal computer
CN103674064B (en) Initial calibration method of strapdown inertial navigation system
CN103557864A (en) Initial alignment method for micro electro mechanical system (MEMS) strap-down inertial navigation adaptive square-root cubature Kalman filtering (SCKF)
CN111024075A (en) Pedestrian navigation error correction filtering method combining Bluetooth beacon and map
CN111006675B (en) Self-calibration method of vehicle-mounted laser inertial navigation system based on high-precision gravity model
Park et al. MEMS 3D DR/GPS integrated system for land vehicle application robust to GPS outages
Gao et al. Development of precise GPS/INS/wheel speed sensor/yaw rate sensor integrated vehicular positioning system
CN113984044A (en) Vehicle pose acquisition method and device based on vehicle-mounted multi-perception fusion
CN107085232B (en) GPS navigation system and positioning precision testing method thereof
CN114332418A (en) Target track simulation method and device
CN111024128A (en) Method for transmitting and aligning stable state of optical axis of airborne photoelectric pod
Wang et al. Uav attitude measurement based on enhanced mahony complementary filter

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WW01 Invention patent application withdrawn after publication

Application publication date: 20210105

WW01 Invention patent application withdrawn after publication